CN106840110B - A kind of motion measuring method and device applied to large-scale more Lamb wave wave simulation systems - Google Patents
A kind of motion measuring method and device applied to large-scale more Lamb wave wave simulation systems Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
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- E—FIXED CONSTRUCTIONS
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- E02B1/02—Hydraulic models
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- G—PHYSICS
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- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
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Abstract
The invention belongs to image measurement fields, provide a kind of motion measuring method and device applied to large-scale more Lamb wave wave simulation systems.When to wave maker motion measurement, the index point on every piece of wave paddle is identified first with video camera collection site image, and in image processing board, and calculate center.Then it is compared with initial position and calculates its image speckles, and be converted into the displacement in physical space in conjunction with scaling parameter.Computer is transferred data to followed by EtherCAT network, and code identification is carried out to data.Finally, the measured value that wave paddle moves is compared and analyzed with target value in a computer, to obtain the motion information of wave maker.The present invention has fully considered that the uneven caused target identification of experimental field illumination is difficult in wave maker motion measurement, the unstable problem of motion tracking and the time-consuming problem big, multicamera system data transmission efficiency is low of image analysis algorithm.
Description
Technical field
The invention belongs to image measurement field, be related to wave paddle position in big kohoona simulation system real-time acquisition and
The evaluation and test problem of aggregate motion curve, the in particular to design method of the measuring system of picture based on EtheCAT network.
Background technique
Wave simulation system (also known as wave maker system) is that a kind of environmental simulation indispensable in ocean engineering laboratory is set
It is standby.By the use of wave maker can in the limited pond in laboratory, sink artificially generated regular wave, irregular water wave,
The simulated environment of experimental verification is provided for the development of marine settings.
When carrying out wave simulation using wave maker, experimenter composes setting wave parameter according to target first；Then according to being
System transmission function calculates the curve movement of every piece of wave paddle, and generates corresponding control signal；Next, these information are transmitted
Into controller；Then, controller controls axis servomotor connected to it according to the motion information received and generates movement；Finally,
Wave paddle moves back and forth under the drive of axis servomotor, to generate various forms of waves.Thus process can be seen that wave
The accuracy of wave simulation depends entirely on the precision for making wave motion control.However, making the mistake that wave process is the linkage of muti-piece wave paddle
Journey, the motion value of every piece of wave paddle are a discrete sampling points for making wave motion curve in spatial distribution.In addition, more
Not all wave paddle works under a clock in plate wave maker, i.e., there is synchronizations in wave paddle motion process
The precision problem of control.
In order to solve wave maker development process and make the evaluation and test in wave experimentation to wave paddle motion control performance,
In practice usually using the method for human eye observation and using the method for laser displacement sensor.Both methods can be solved partially
Certainly it is some scene evaluation and test the problem of, but the time control precision on, to wave paddle simultaneously measure quantity on, experiment measure
All it there is a problem that in cost and in the comfort level of operation very big.Therefore there is an urgent need to one kind can be applied to more Lamb wave waves
The measurement method and device of simulation system carry out the transient position information that real-time synchronization obtains all wave paddles.And use image measurement
Method have the characteristics that precision height, undisturbed, measurement of full field, visualization of information.In addition when the technology and EtherCAT data are adopted
The measuring system of picture constructed after collection technological incorporation not only has the characteristics that image measurement technology, but also has field wiring letter
The feature single, field range is big, easy for installation, data transmission efficiency is high is extremely suitable for building large-scale more plate wave making systems
Movement measurement system.
Summary of the invention
For the monitoring running state problem of wave making system in ocean engineering laboratory, the present invention is by wave paddle motion measurement
It combines, proposes a kind of applied to large-scale more Lamb wave wave simulation systems with image processing techniques, EtherCAT network technology
Motion measuring method and device.
Technical solution of the present invention:
A kind of movement measuring device applied to large-scale more Lamb wave wave simulation systems, the movement measuring device include meter
Calculation machine, video camera, infrared light supplementing device, circular fluorescent index point and EtherCAT image processing board；The video camera is band
There is the infrared enhanced industrial camera of tight shot, quantity is determined by measurement range；The quantity of the infrared light supplementing device
Determine that the quantity of EtherCAT image processing board and the quantity of video camera are consistent by the image-forming condition at scene；
Movement measuring device acquires structure using the data based on EtherCAT network, and computer is as EtherCAT network
Main website；By camera arrangements in the top of wave making system, visual field covers all wave paddles under the requirement for meeting measurement accuracy,
When separate unit video camera can not cover tested region then by the way of multiple cameras associated working；Every video camera passes through
CameraLink interface is connected with each EtherCAT image processing board, the slave station as EtherCAT network；Every piece
The Trig triggering interface of EtherCAT image processing board is interconnected, and first piece of EtherCAT image processing board and computer are logical
The connection of RJ45 network interface is crossed, the EtherCAT image processing board of every video camera is by RJ45 network interface mutual connection one
It rises；Infrared light supplementing device is placed on the side of video camera for illuminating to scene, quantity according to the quality of field imaging into
Row selection；Circular fluorescent index point paste or the connecting plate of full-filling wave paddle on；When to wave maker motion measurement, first with
Video camera collection site image, and the index point on every piece of wave paddle is identified in image processing board, and calculate center
Position；Then it is compared with initial position and calculates its image speckles, and be converted into the position in physical space in conjunction with scaling parameter
Shifting amount；Computer is transferred data to followed by EtherCAT network, and code identification is carried out to data；Finally, counting
The measured value that wave paddle moves is compared and analyzed with target value in calculation machine, to obtain the motion information of wave maker.
The infrared light supplementing device is 850nm infrared light compensating lamp.
A kind of motion measuring method applied to large-scale more Lamb wave wave simulation systems, steps are as follows:
Step A: video camera is installed right above wave maker, and according to measurement accuracy, camera resolution and measurement
Range selects the quantity of video camera, will be connected after EtherCAT image processing board mutual connection with computer, composition is based on
The data of EtherCAT network acquire structure；Circular fluorescent index point is fixed on the connecting plate above wave paddle, using neighbours
Domain arrangement, i.e., respectively arranged at the upper and lower, left and right same distance of identification point along wave paddle Runtime Infrastructure direction four it is auxiliary
Help identification point；The position of adjustment video camera makes the arranged direction of index point consistent with the ranks direction of photographed images；Pass through
It is external trigger mode that video camera, which is arranged, in EtherCAT image processing board；EtherCAT image processing board passes through Trig interface to each other
The unification of trigger signal is carried out, while issuing consistent synchronous triggering collection signal to respective video camera；
Step B: camera arrangements finish, and need to carry out system calibration when operation for the first time, respectively in the initial bit of wave paddle
It sets and respectively shoots an image with maximum travel position；EtherCAT image processing board to the image of acquisition carry out image binaryzation with
And circular target extracts, and establishes look-up table for the moving-picture information of every wave paddle, records the object of wave paddle movement travel
Manage the ratio K of distance and image planes distancei, i=1,2 ..., N, wherein N is the quantity of wave paddle in image planes, while recording index point
Motion range and center mark point running track Origin And Destination image coordinate；Be each wave paddle in image planes according to
Sequence from left to right is numbered, and calibration information is stored in the memory space of image processing board according to number；
Step C: Image Acquisition is carried out to the scene at current time, FPGA is by picture number in EtherCAT image processing board
According to collecting in storage unit, data processing is carried out by image of the DSP on EtherCAT image processing board to memory block later:
All identification points are extracted in the motion range of every piece of wave paddle first；Then the center identification point fortune recorded in calibration process
Each extraction point is distinguished in dynamic interval line, only thinks that the point is positive when current point respectively has a neighbor point up and down
True index point；Next the coordinate of index point is subtracted to the initial position of record, to obtain the image of wave paddle movement
Displacement, is then multiplied by K for the numerical valueiObtain physical displacement value；After completing to the image analysis of every piece of wave paddle, obtain each
The displacement information of each piece of wave paddle on image；Finally, EtherCAT image processing board presses the motion information of wave paddle in image
Sub- message is constructed according to the mode of " number+displacement ", and computer is fed back to by EtherCAT network；
Step D: computer extracts video processing board-card and transmits the message come, and according to the serial number of slave station to the number in message
According to being renumberd so that the number of the push plate motion information of every wave maker it is unique and according to spatial relation successively
Arrangement；
Step E: computer analyzes the displacement information of wave paddle: according to number order by the displacement of every piece of wave paddle
Data are arranged, and measurement data curve is formed；At the same time, by current time measurement data curve and target data curve into
Row difference calculates, and counts maximum different value and average difference values, and the error curve for drawing the operation of every wave paddle facilitates reality
The person of testing carries out the detection of wave maker control precision；
Step F: step C- step E is executed repeatedly, is terminated until making wave motion measurement.
In conclusion circular index point dot matrix is arranged before measurement first on wave paddle connecting plate；Then in wave maker
Surface arrangement video camera simultaneously carries out system calibration；Start to measure later, when measurement is indicated by image processing board
The identification of point and center extraction；Next it combines scaling parameter to calculate displacement and computer is transferred to by EtherCAT network
It is numbered；Finally measurement data and target data are compared in a computer, to obtain the motion control of wave paddle
Information.
Beneficial effects of the present invention: the uneven caused of experimental field illumination has been fully considered when wave maker motion measurement
Target identification it is difficult, the unstable problem of motion tracking and time-consuming big, the multicamera system data transmission effect of image analysis algorithm
The low problem of rate.Cooperate index point dot matrix with infrared spectroscopy to enhance the robustness of target tracking, and hard using image processing board
The mode that part calculates and EtherCAT network combines, not only increases the speed of image measurement, and number is greatly improved
According to efficiency of transmission, it is greatly promoted application of the image measurement technology in wave maker researching and designing.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention.
Fig. 2 is the structural schematic diagram of image processing board.
In figure: 1 computer；2 video cameras；3EtherCAT image processing board；4 infrared light supplementing devices；
5 circular fluorescent index points；6 connecting plates；7 wave paddles.
Specific embodiment
Below in conjunction with attached drawing and technical solution, a specific embodiment of the invention is further illustrated.
A kind of motion measuring method and device applied to large-scale more Lamb wave wave simulation systems, structural representation such as attached drawing 1
It is shown:
Infrared enhanced industrial camera 2 including a computer 1, with tight shot (determined by measurement range by quantity
It is fixed), infrared light supplementing device 4 (quantity is determined by the image-forming condition at scene), circular fluorescent marker 5 be several and EtherCAT image
Processing board 3 (quantity is consistent with the quantity of video camera).Entire measuring system constructs form using EtherCAT network, wherein calculating
Main website of the machine 1 as measurement network.Infrared enhanced industrial camera 2 is arranged in the top of wave making system, is meeting measurement essence
Visual field covers all wave paddles 7 as far as possible under the requirement of degree.It is then taken the photograph using more when separate unit video camera can not cover tested region
The mode that camera 2 works together.Every video camera 2 is connected by CameraLink interface with EtherCAT image processing board 3, is made
For the slave station of EtherCAT network.First piece of image processing board 3 is linked together with computer 1 by RJ45 network interface.
Together by RJ45 network interface mutual connection by the EtherCAT image processing board 3 of every video camera 2.In addition, in order to protect
The synchronous precision of video camera 2 is demonstrate,proved, the Trig triggering interface of every piece of EtherCAT image processing board 3 is interconnected.850nm is red
Outer light compensating lamp is placed on the side of video camera 2 for illuminating to scene, and quantity is selected according to the quality of field imaging
It selects.Circular fluorescent index point 5 can using paste or full-filling by the way of, be placed on the connecting plate 6 of wave paddle 7.To making wave
When machine motion measurement, first with 2 collection site image of video camera, and wave is made to every piece in EtherCAT image processing board 3
Circular fluorescent index point 5 on plate 7 is identified, and calculates center.Then it is compared with initial position and calculates its picture
Face displacement, and the displacement in physical space is converted into conjunction with scaling parameter.Data are passed followed by EtherCAT network
It is defeated to arrive computer, and code identification is carried out to data.Finally, the measured value and target value that move wave paddle 7 in computer 1
It compares and analyzes, to obtain the motion information of wave maker.Specific method is described as follows:
Step A: video camera 2 is installed right above wave maker, and according to measurement accuracy, camera resolution and measurement
The quantity of range selection video camera 2.It will be connected after 3 mutual connection of EtherCAT image processing board with computer 1, to form base
Structure is acquired in the data of EtherCAT network.At the same time, fluorized marking point is fixed on the connecting plate 6 above wave paddle 7
5.When laying use four neighborhood arrangements, i.e., along wave paddle Runtime Infrastructure direction the upper and lower, left and right of identification point it is identical away from
Respectively arrange that four assist in identifying a little again from place.Later, the position for adjusting video camera 2 makes the arranged direction and camera shooting figure of index point
The ranks direction of picture is consistent.It is external trigger mode that video camera 2, which is arranged, by EtherCAT image processing board 3.EtherCAT image
Processing board 3 carries out the unification of trigger signal by Trig interface to each other, while issuing consistent synchronization to respective video camera 2
Triggering collection signal.
Step B: it needs to carry out system calibration when video camera 2 deploys first operation.At this time respectively in wave paddle 7
Initial position and maximum travel position respectively shoot an image.The image of 3 pairs of EtherCAT image processing board acquisitions carries out image
Binaryzation and circular target extract, and establish look-up table for the moving-picture information of every wave paddle 7, and record wave paddle 7 is transported
The physical distance of dynamic stroke and the ratio K of image planes distancei, i=1,2 ..., N, wherein N is the quantity of wave paddle 7 in image planes, together
The range of the movement of Shi Jilu circular fluorescent index point 5 and the Origin And Destination image coordinate of center mark point running track.
It is that each wave paddle 7 is numbered according to sequence from left to right, and calibration information is stored according to number in image planes
In the memory space of EtherCAT image processing board 3.
Step C: Image Acquisition is carried out to the scene at current time.At this point, FPGA will in EtherCAT image processing board 3
Image data acquiring carries out data processing by image of the DSP on plate to memory block later: first at every piece into storage unit
All identification points are extracted in the motion range of wave paddle；Then in the center identification point movement interval line recorded in calibration process
Each extraction point is distinguished, only thinks that changing the point is correctly to indicate when current point respectively has a neighbor point up and down
Point；Next the coordinate of index point is subtracted to the initial position of record, so that the picture displacement of the wave paddle 7 movement is obtained, with
The numerical value is multiplied by K afterwardsiObtain physical displacement value.After completing to the image analysis of every piece of wave paddle 7, it can obtain each
The displacement information of each piece of wave paddle 7 on image.Finally, EtherCAT image processing board 3 is by the motion information of wave paddle 7 in image
Sub- message is constructed in the way of " number+displacement ", and computer 1 is fed back to by EtherCAT network.
Step D: computer 1 extracts video processing board-card and transmits the message come, and according to the serial number of slave station in message
Data are renumberd, so that the number of the push plate motion information of every wave maker 7 is uniquely and according to spatial relation
It is arranged successively.
Step E: computer 1 analyzes the displacement information of wave paddle 7: according to number order by every piece of wave paddle 7
Displacement data is arranged, and measurement data curve is formed.At the same time, current time measurement data curve and target data is bent
Line carries out difference calculating, counts maximum different value and average difference values, and draws the error curve side of the operation of every wave paddle 7
Just experimenter carries out the detection of wave maker control precision.
Step F: step C- step E is executed repeatedly, is terminated until making wave motion measurement.
In conclusion circular fluorescent index point 5 is arranged before measurement first on 7 connecting plate 6 of wave paddle；Then in wave maker
Surface arrangement video camera 2 and carry out system calibration；Start to measure later, passes through EtherCAT image procossing when measurement
Plate 3 carries out identification and the center extraction of index point；Next it combines scaling parameter to calculate displacement and passes through EtherCAT network
Computer 1 is transferred to be numbered；Finally measurement data and target data are compared in computer 1, to be made
The motion control information of wave plate 7.
Claims (3)
1. a kind of movement measuring device applied to large-scale more Lamb wave wave simulation systems, which is characterized in that the motion measurement
Device includes computer, video camera, infrared light supplementing device, circular fluorescent index point and EtherCAT image processing board；Described
Video camera is the infrared enhanced industrial camera with tight shot, and quantity is determined by measurement range；The infrared benefit
The quantity of light device determines that the quantity of EtherCAT image processing board and the quantity of video camera are consistent by the image-forming condition at scene；
Movement measuring device acquires structure, master of the computer as EtherCAT network using the data based on EtherCAT network
It stands；By camera arrangements in the top of wave making system, visual field covers all wave paddles under the requirement for meeting measurement accuracy, works as list
When platform video camera can not cover tested region then by the way of multiple cameras associated working；Every video camera passes through
CameraLink interface is connected with each EtherCAT image processing board, the slave station as EtherCAT network；Every piece
The Trig triggering interface of EtherCAT image processing board is interconnected, and first piece of EtherCAT image processing board and computer are logical
The connection of RJ45 network interface is crossed, the EtherCAT image processing board of every video camera is by RJ45 network interface mutual connection one
It rises；Infrared light supplementing device is placed on the side of video camera for illuminating to scene, quantity according to the quality of field imaging into
Row selection；Circular fluorescent index point paste or the connecting plate of full-filling wave paddle on.
2. movement measuring device according to claim 1, which is characterized in that the infrared light supplementing device is that 850nm is infrared
Light compensating lamp.
3. a kind of motion measuring method applied to large-scale more Lamb wave wave simulation systems, which is characterized in that steps are as follows:
Step A: video camera is installed right above wave maker, and according to measurement accuracy, camera resolution and measurement range
The quantity for selecting video camera, will be connected after EtherCAT image processing board mutual connection with computer, and composition is based on EtherCAT
The data of network acquire structure；Circular fluorescent index point is fixed on the connecting plate above wave paddle, using four neighborhood arrangement sides
Formula respectively arranges that four assist in identifying a little along wave paddle Runtime Infrastructure direction at the upper and lower, left and right same distance of identification point；
The position of adjustment video camera makes the arranged direction of index point consistent with the ranks direction of photographed images；Pass through EtherCAT image
It is external trigger mode that video camera, which is arranged, in processing board；EtherCAT image processing board passes through Trig interface to each other and carries out trigger signal
Unification, while issuing consistent synchronous triggering collection signal to respective video camera；
Step B: camera arrangements finish, and when first operation needs to carry out system calibration, respectively the initial position of wave paddle with
Maximum travel position respectively shoots an image；EtherCAT image processing board carries out image binaryzation and circle to the image of acquisition
Shape Objective extraction, and establish look-up table for the moving-picture information of every wave paddle, record the physics of wave paddle movement travel away from
From with the ratio K with a distance from image planesi, i=1,2 ..., N, wherein N is the quantity of wave paddle in image planes, while recording the fortune of index point
The Origin And Destination image coordinate of dynamic range and center mark point running track；It is each wave paddle in image planes according to from a left side
It is numbered to right sequence, and calibration information is stored in the memory space of image processing board according to number；
Step C: Image Acquisition is carried out to the scene at current time, FPGA adopts image data in EtherCAT image processing board
Collect in storage unit, data processing is carried out by image of the DSP on EtherCAT image processing board to memory block later: first
All identification points are extracted in the motion range of every piece of wave paddle；Then the center identification point motor area recorded in calibration process
Between each extraction point is distinguished on line, only think that the index point is positive when current point respectively has a neighbor point up and down
True index point；Next the coordinate of index point is subtracted to the initial position of record, to obtain the image of wave paddle movement
Displacement, is then multiplied by K for the picture displacement valueiObtain physical displacement value；After completing to the image analysis of every piece of wave paddle, obtain
The displacement information of each piece of wave paddle on to each image；Finally, EtherCAT image processing board is by the movement of wave paddle in image
Information constructs sub- message in the way of " number+displacement ", and feeds back to computer by EtherCAT network；
Step D: computer extract video processing board-card transmit message, and according to the serial number of slave station to the data in message into
Line renumbering, so that the number of the push plate motion information of every wave maker is unique and successively arranges according to spatial relation
Column；
Step E: computer analyzes the displacement information of wave paddle: according to number order by the displacement data of every piece of wave paddle
It is arranged, forms measurement data curve；At the same time, it is poor current time measurement data curve and target data curve to be carried out
Value calculates, and counts maximum different value and average difference values, and the error curve for drawing the operation of every wave paddle facilitates experimenter
Carry out the detection of wave maker control precision；
Step F: step C- step E is executed repeatedly, is terminated until making wave motion measurement.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710153815.7A CN106840110B (en) | 2017-03-17 | 2017-03-17 | A kind of motion measuring method and device applied to large-scale more Lamb wave wave simulation systems |
| PCT/CN2017/101158 WO2018166150A1 (en) | 2017-03-17 | 2017-09-11 | Motion measurement method and apparatus applied to large multi-board wave simulation system |
| US16/308,999 US10488194B2 (en) | 2017-03-17 | 2017-09-11 | Motion measurement method and apparatus applied to large multi-paddle wave simulation system |
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| CN201710153815.7A CN106840110B (en) | 2017-03-17 | 2017-03-17 | A kind of motion measuring method and device applied to large-scale more Lamb wave wave simulation systems |
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| CN106840110B true CN106840110B (en) | 2019-08-13 |
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| CN106840110B (en) | 2017-03-17 | 2019-08-13 | 大连理工大学 | A kind of motion measuring method and device applied to large-scale more Lamb wave wave simulation systems |
| CN108445830B (en) * | 2018-03-13 | 2020-11-06 | 大连理工大学 | Wave making machine control system based on multi-controller synchronous control |
| CN109084953B (en) * | 2018-08-28 | 2020-03-31 | 水利部交通运输部国家能源局南京水利科学研究院 | Device and method for acquiring wave characteristic parameters in water tank |
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| CN113933157B (en) * | 2021-10-12 | 2024-06-21 | 江苏省电力试验研究院有限公司 | Tensile force testing method and device for cable insulation dumbbell test piece |
| CN114061902B (en) * | 2021-11-29 | 2024-10-15 | 重庆交通大学 | Image method-based real-time monitoring device, method and system for transferring gravel |
| CN114475958B (en) * | 2022-01-20 | 2023-01-03 | 哈尔滨工程大学 | Open water performance test device for hydrofoil model |
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| CN106840110A (en) | 2017-06-13 |
| US10488194B2 (en) | 2019-11-26 |
| US20190310084A1 (en) | 2019-10-10 |
| WO2018166150A1 (en) | 2018-09-20 |
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